Publications (12)
AERoS: Assurance of Emergent Behaviour in Autonomous Robotic Swarms
Dhaminda B. Abeywickrama, James Wilson, Suet Lee +7
The behaviours of a swarm are not explicitly engineered. Instead, they are an emergent consequence of the interactions of individual agents with each other and their environment. T…
GeCCo -- a Generalist Contact-Conditioned Policy for Loco-Manipulation Skills on Legged Robots
Vassil Atanassov, Wanming Yu, Siddhant Gangapurwala +2
Most modern approaches to quadruped locomotion focus on using Deep Reinforcement Learning (DRL) to learn policies from scratch, in an end-to-end manner. Such methods often fail to…
On Specifying for Trustworthiness
Dhaminda B. Abeywickrama, Amel Bennaceur, Greg Chance +12
As autonomous systems (AS) increasingly become part of our daily lives, ensuring their trustworthiness is crucial. In order to demonstrate the trustworthiness of an AS, we first ne…
Dehydration and ionic conductance quantization in nanopores
Michael Zwolak, James Wilson, Massimiliano Di Ventra
There has been tremendous experimental progress in the last decade in identifying the structure and function of biological pores (ion channels) and fabricating synthetic pores. Des…
Risk-Aware Reinforcement Learning for Mobile Manipulation
Michael Groom, James Wilson, Nick Hawes +1
For robots to successfully transition from lab settings to everyday environments, they must begin to reason about the risks associated with their actions and make informed, risk-aw…
Single-Base DNA Discrimination via Transverse Ionic Transport
James Wilson, M. Di Ventra
We suggest to discriminate single DNA bases via transverse ionic transport, namely by detecting the ionic current that flows in a channel while a single-stranded DNA is driven thro…